i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-06 09:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

merged master->ros2

Browse Source
This commit is contained in:
matlabbe
2022-11-27 16:21:59 -08:00
parent ed248b4dbd 671c80dc3f
commit 5c3c269652
27 changed files with 1055 additions and 131 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/GuiWrapper.cpp
+10 -5
View File
@@ -30,7 +30,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QDir>
#include <std_srvs/srv/empty.hpp>
#include <std_msgs/msg/empty.hpp>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UConversion.h>
@@ -141,6 +140,8 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
UEventsManager::addHandler(this);
UEventsManager::addHandler(mainWindow_);
republishNodeDataPub_ = this->create_publisher<std_msgs::msg::Int32MultiArray>("republish_node_data", 1);
infoTopic_.subscribe(this, "info");
mapDataTopic_.subscribe(this, "mapData");
infoMapSync_ = new message_filters::Synchronizer<MyInfoMapSyncPolicy>(
@@ -191,10 +192,7 @@ void GuiWrapper::infoMapCallback(
stat.setMapCorrection(mapToOdom);
stat.setPoses(poses);
if(signatures.size())
{
stat.setLastSignatureData(signatures.rbegin()->second);
}
stat.setSignaturesData(signatures);
stat.setConstraints(links);
this->post(new RtabmapEvent(stat));
@@ -465,6 +463,13 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
RCLCPP_WARN(this->get_logger(), "Service \"remove_label\" not available.");
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdRepublishData)
{
UASSERT(cmdEvent->value1().isIntArray());
std_msgs::msg::Int32MultiArray msg;
msg.data = cmdEvent->value1().toIntArray();
republishNodeDataPub_->publish(msg);
}
else
{
RCLCPP_WARN(this->get_logger(), "Not handled command (%d)...", cmd);